/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

///btDbvtBroadphase implementation by Nathanael Presson
#ifndef BT_DBVT_BROADPHASE_H
#define BT_DBVT_BROADPHASE_H

#include "btDbvt.h"
#include "btOverlappingPairCache.h"

//
// Compile time config
//

#define    DBVT_BP_PROFILE                    0
//#define DBVT_BP_SORTPAIRS                1
#define DBVT_BP_PREVENTFALSEUPDATE        0
#define DBVT_BP_ACCURATESLEEPING        0
#define DBVT_BP_ENABLE_BENCHMARK        0
#define DBVT_BP_MARGIN                    (btScalar)0.05

#if DBVT_BP_PROFILE
#define    DBVT_BP_PROFILING_RATE    256
#include "btQuickprof.h"
#endif

//
// btDbvtProxy
//
struct btDbvtProxy : btBroadphaseProxy
{
    /* Fields        */
    //btDbvtAabbMm    aabb;
    btDbvtNode*        leaf;
    btDbvtProxy*    links[2];
    int                stage;
    /* ctor            */
    btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
    btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
    {
        links[0]=links[1]=0;
    }
};

typedef btAlignedObjectArray<btDbvtProxy*>    btDbvtProxyArray;

///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
struct    btDbvtBroadphase : btBroadphaseInterface
{
    /* Config        */
    enum    {
        DYNAMIC_SET            =    0,    /* Dynamic set index    */
        FIXED_SET            =    1,    /* Fixed set index        */
        STAGECOUNT            =    2    /* Number of stages        */
    };
    /* Fields        */
    btDbvt                    m_sets[2];                    // Dbvt sets
    btDbvtProxy*            m_stageRoots[STAGECOUNT+1];    // Stages list
    btOverlappingPairCache*    m_paircache;                // Pair cache
    btScalar                m_prediction;                // Velocity prediction
    int                        m_stageCurrent;                // Current stage
    int                        m_fupdates;                    // % of fixed updates per frame
    int                        m_dupdates;                    // % of dynamic updates per frame
    int                        m_cupdates;                    // % of cleanup updates per frame
    int                        m_newpairs;                    // Number of pairs created
    int                        m_fixedleft;                // Fixed optimization left
    unsigned                m_updates_call;                // Number of updates call
    unsigned                m_updates_done;                // Number of updates done
    btScalar                m_updates_ratio;            // m_updates_done/m_updates_call
    int                        m_pid;                        // Parse id
    int                        m_cid;                        // Cleanup index
    int                        m_gid;                        // Gen id
    bool                    m_releasepaircache;            // Release pair cache on delete
    bool                    m_deferedcollide;            // Defere dynamic/static collision to collide call
    bool                    m_needcleanup;                // Need to run cleanup?
#if DBVT_BP_PROFILE
    btClock                    m_clock;
    struct    {
        unsigned long        m_total;
        unsigned long        m_ddcollide;
        unsigned long        m_fdcollide;
        unsigned long        m_cleanup;
        unsigned long        m_jobcount;
    }                m_profiling;
#endif
    /* Methods        */
    btDbvtBroadphase(btOverlappingPairCache* paircache=0);
    ~btDbvtBroadphase();
    void                            collide(btDispatcher* dispatcher);
    void                            optimize();
    /* btBroadphaseInterface Implementation    */
    btBroadphaseProxy*                createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
    void                            destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
    void                            setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
    virtual void    rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));

    virtual void    getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
    void                            calculateOverlappingPairs(btDispatcher* dispatcher);
    btOverlappingPairCache*            getOverlappingPairCache();
    const btOverlappingPairCache*    getOverlappingPairCache() const;
    void                            getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
    void                            printStats();
    static void                        benchmark(btBroadphaseInterface*);

    void    setVelocityPrediction(btScalar prediction)
    {
        m_prediction = prediction;
    }
    btScalar getVelocityPrediction() const
    {
        return m_prediction;
    }

    void    performDeferredRemoval(btDispatcher* dispatcher);

    ///reset broadphase internal structures, to ensure determinism/reproducability
    virtual void resetPool(btDispatcher* dispatcher);

};

#endif
